/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2025 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "adc.h"
#include "dma.h"
#include "fdcan.h"
#include "opamp.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "svm.h"
#include "math.h"
#include "serialplot.h"
#include "bldc_smc.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */


/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
float user_setspeed = MOTOR0_SPD;
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{

  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_DMA_Init();
  MX_FDCAN1_Init();
  MX_TIM1_Init();
  MX_USART2_UART_Init();
  MX_ADC1_Init();
  MX_OPAMP1_Init();
  MX_OPAMP2_Init();
  MX_OPAMP3_Init();
  MX_TIM2_Init();
  MX_TIM7_Init();
  /* USER CODE BEGIN 2 */
  HAL_ADCEx_Calibration_Start(&hadc1,ADC_SINGLE_ENDED);
  HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_1);//start channel 1
  HAL_TIMEx_PWMN_Start(&htim1, TIM_CHANNEL_1);
  HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_2);//start channel 2
  HAL_TIMEx_PWMN_Start(&htim1, TIM_CHANNEL_2);
  HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_3);//start channel 3
  HAL_TIMEx_PWMN_Start(&htim1, TIM_CHANNEL_3);
  HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_4);//start channel 4
  HAL_OPAMP_Start(&hopamp1);
  HAL_OPAMP_Start(&hopamp2);
  HAL_OPAMP_Start(&hopamp3);
  HAL_ADCEx_InjectedStart_IT(&hadc1);
  motor0.adc_trig_event_callback = &motor0_highspeed_loop;
  bldc_init_par();
  HAL_TIM_Base_Start_IT(&htim7);
  set_adval_middle();
//	HAL_TIM_IC_Start(&htim2, TIM_CHANNEL_1);//direct
//	HAL_TIM_IC_Start(&htim2, TIM_CHANNEL_2);//indirect
//	HAL_UART_Transmit_DMA(&huart2, (uint8_t*)"system start!", sizeof("system start!"));
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
		HAL_Delay(10);
    	frame.fdata[0] = motor0.smc_pll.theta;
    	frame.fdata[1] = drag_angle;
    	frame.fdata[2] = motor0.foc_para.samplcurpar.cal_u;
    	frame.fdata[3] = motor0.foc_para.samplcurpar.cal_v;
    	HAL_UART_Transmit_DMA(&huart2,(uint8_t*)&frame,sizeof(frame));
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure the main internal regulator output voltage
  */
  HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1_BOOST);

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = RCC_PLLM_DIV2;
  RCC_OscInitStruct.PLL.PLLN = 85;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = RCC_PLLQ_DIV2;
  RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV2;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_4) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */
void HAL_ADCEx_InjectedConvCpltCallback(ADC_HandleTypeDef *hadc)
{
    UNUSED(hadc);
    if(hadc == &hadc1)
    {
    	motor0.adc_trig_event_callback();
    }
}
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
    static int32_t start_times = 0;
    static float last_set_speed = 0;

    if(htim==&htim7)
	{
		start_times++;
		timer_flag = !timer_flag;
		motor0.speedloop_para.target = user_setspeed;
		motor0.speedloop_para.cur = pll_speed_control.o_speedout_filter;
		motor0.speedloop_para.func_pid(&motor0.speedloop_para);
		motor0.foc_para.currentqpipar.target =  0.3f;//motor0.speedloop_para.outval;
		motor0.foc_para.currentdpipar.target =  0;
		/**
		 * @brief Speed too low to use smc
		 *
		 */
		if (fabs(user_setspeed) < 5) {
			user_setspeed = 0;
			start_times = 0;
			last_set_speed = 0;
			TIM1->CCR1 = 1000;
			TIM1->CCR2 = 1000;
			TIM1->CCR3 = 1000;
		}
		/**
		 * @brief Dragging at start-up
		 *
		 */
		if ((last_set_speed == 0) && (fabs(user_setspeed) >= 5)) {
			if (start_times < 1000) {
				is_being_started = 1;
				motor0.foc_para.currentdpipar.target = 0.3;
				if (user_setspeed > 0) {
					motor0.speedloop_para.mem = 0;//70
					drag_angle = (drag_angle + 2) % 360;
				} else {
					motor0.speedloop_para.mem = -0;//-70
					if (drag_angle > 2) {
						drag_angle -= 2;
					} else {
						drag_angle += 358;
					}
				}
				motor0.foc_para.currentqpipar.target = 0;
				motor0.foc_para.currentdpipar.mem = 0;
				motor0.foc_para.currentqpipar.mem = 0;
			} else {
				start_times = 0;
//				last_set_speed = user_setspeed;
//				is_being_started = 0;
			}
			start_times++;
		}
	}
}

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
